Signal zero offset and amplitude calibration method and related equipment

Abstract

The invention discloses a signal zero offset and amplitude calibration method and related equipment, the method is applied to a self-adaptive wave trap provided with a low-pass filter, and the method comprises the following steps: acquiring a corresponding to-be-detected signal in real time when the position of a rotor is detected; performing normalization processing on the to-be-detected signal to obtain a first signal; inputting the first signal into a phase-locked loop for angle tracking processing to obtain a second signal; inputting the first signal and the second signal into an adaptive wave trap, and calculating to obtain the amplitude of the signal to be measured; and obtaining an output signal of an output end of a low-pass filter in the adaptive wave trap, and obtaining a zero offset value of the to-be-detected signal based on the output signal. According to the invention, the low-pass filter is additionally arranged in the self-adaptive wave trap, so that the direct current quantity can be filtered out, the extraction of the signal amplitude and the zero offset with low calculation amount and low storage space is realized, the influence of noise is reduced, and the accuracy of a result is improved.

Description

Technical Field

[0001] The present application relates to the technical field of rotor position detection, and in particular to a signal zero bias and amplitude calibration method and related equipment. Background Art

[0002] Electric power steering motors often use magnetic encoders to detect rotor position. The MCU detects the signal output by the position sensor chip and obtains the rotor position through a phase-locked loop. The analog signal collected by the AD needs to be normalized. During mass production, due to distribution errors, there will be large differences in individual parts, and the signal amplitude and zero bias need to be measured one by one. If all of them are identified manually, the efficiency is too low.

[0003] The signal amplitude and zero bias can also be obtained by performing Fourier transform on the signal. However, Fourier transform requires the storage of a large amount of data for calculation, and the storage space of the microcontroller is limited, so it is not suitable for use on a microcontroller. Other methods that use software to simply determine the maximum and minimum values ​​are easily affected by noise, resulting in large errors in the results. Summary of the invention

[0004] In order to solve the above technical problems, the embodiments of the present application provide a method and system for zero bias and amplitude calibration of a signal, an electronic device, a computer-readable storage medium, and a computer program product.

[0005] In a first aspect, in order to solve the above technical problems, the present application provides a method for calibrating the zero bias and amplitude of a signal, which is applied to an adaptive notch filter, wherein a low-pass filter is provided in the adaptive notch filter, and the method comprises:

[0006] Real-time acquisition of the corresponding signal to be measured when the magnetic encoder detects the rotor position;

[0007] Performing normalization processing on the signal to be measured to obtain a first signal;

[0008] Inputting the first signal into a phase-locked loop for angle tracking processing to obtain a second signal;

[0009] Inputting the first signal and the second signal into the adaptive notch filter, and calculating the amplitude of the signal to be measured;

[0010] An output signal of an output end of the low-pass filter in the adaptive notch filter is obtained, and a zero bias value of the signal to be measured is obtained based on the output signal.

[0011] The beneficial effects are:

[0012] In the technical solution provided in the embodiment of the present application, the first signal is obtained by normalizing the corresponding signal to be measured when the rotor position is detected in real time; then the first signal is input into the phase-locked loop for angle tracking processing to obtain the second signal; the first signal and the second signal are input into the adaptive notch filter to calculate the amplitude of the signal to be measured; the output signal of the output end of the low-pass filter in the adaptive notch filter is obtained, and the zero bias value of the signal to be measured is obtained based on the output signal. In this way, the present application can calibrate the signal to be measured separately for each detection of the rotor position, breaking through the limitation that the Fourier transform needs to store a large amount of data for calculation and the storage space of the device is limited. In addition, a low-pass filter is added to the adaptive notch filter so as to filter out the DC quantity, calibrate the amplitude and zero bias value of the signal to be measured, realize the extraction of the signal amplitude and zero bias, reduce the influence of noise, and improve the accuracy of the result.

[0013] In a second aspect, the present invention provides a signal zero bias and amplitude calibration system, the signal zero bias and amplitude calibration system comprising an adaptive notch filter and a phase-locked loop, the phase-locked loop is connected to the adaptive notch filter, and a low-pass filter is arranged in the adaptive notch filter;

[0014] The phase-locked loop is used to perform angle tracking processing on a first signal obtained after normalizing the corresponding signal to be measured when the magnetic encoder detects the rotor position, to obtain a second signal, and transmit the second signal to the adaptive notch filter;

[0015] The adaptive notch filter includes multiple input terminals, respectively used to receive the first signal and the second signal; the adaptive notch filter is also used to obtain the amplitude of the signal to be measured based on the first signal and the second signal, and to obtain the zero bias value of the signal to be measured based on the output signal of the output terminal of the low-pass filter.

[0016] In a third aspect, the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the signal zero bias and amplitude calibration method as described above.

[0017] In a fourth aspect, the present application also provides a computer-readable storage medium having computer-readable instructions stored thereon. When the computer-readable instructions are executed by a processor of a computer, the computer executes the signal zero bias and amplitude calibration method as described above.

[0018] In a fifth aspect, the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the signal zero bias and amplitude calibration method provided in the above-mentioned various optional embodiments.

[0019] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 is a flow chart of a method for calibrating the zero bias and amplitude of a signal shown in an exemplary embodiment of the present application;

[0022] Figure 2 is a block diagram of a signal zero bias and amplitude calibration system shown in an exemplary embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of an adaptive notch filter and a phase-locked loop for implementing a signal zero bias and amplitude calibration method in a signal zero bias and amplitude calibration system in an exemplary embodiment of the present application;

[0024] Figure 4 It is a structural diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application. DETAILED DESCRIPTION

[0025] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0026] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0027] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0028] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0029] In order to solve the problems of low efficiency and insufficient accuracy in measuring signal amplitude and zero bias when using a magnetic encoder for rotor position detection, the embodiments of the present application propose a signal zero bias and amplitude calibration method and system, electronic device, and computer-readable storage medium, which mainly involve the signal zero bias and amplitude calibration technology included in the rotor position detection technology. These embodiments will be described in detail below.

[0030] First see Figure 1 , Figure 1 The flowchart of a signal zero bias and amplitude calibration method shown in an exemplary embodiment of the present application. The method can be applied to an adaptive notch filter, in which a low-pass filter is provided.

[0031] like Figure 1 As shown, in an exemplary embodiment, the signal zero bias and amplitude calibration method may include steps 101 to S105, which are described in detail as follows:

[0032] Step S101, real-time acquisition of the corresponding signal to be measured when the magnetic encoder detects the rotor position.

[0033] Electric power steering motors often use magnetic encoders to detect rotor position. Due to distribution errors during mass production, individual parts may differ greatly, and the signal amplitude and zero offset need to be measured one by one. Therefore, the signal to be measured in this embodiment is the signal output by the magnetic encoder when performing rotor position detection.

[0034] Step S102: normalize the signal to be measured to obtain a first signal.

[0035] Step S103: input the first signal into a phase-locked loop for angle tracking processing to obtain a second signal.

[0036] In order to eliminate the dimensional differences between different signals through data normalization and improve the overall measurement rate, this embodiment normalizes the signal to be measured, and inputs the obtained first signal into a phase-locked loop for angle tracking processing to obtain a second signal, and then returns the second signal as the input of the adaptive notch filter as an element for calculating the amplitude of the signal to be measured.

[0037] Step S104: input the first signal and the second signal into an adaptive notch filter, and calculate the amplitude of the signal to be measured.

[0038] Step S105 , obtaining an output signal of an output end of a low-pass filter in an adaptive notch filter, and obtaining a zero bias value of the signal to be measured based on the output signal.

[0039] As can be seen from the above, in the method provided in this embodiment, the first signal is obtained by normalizing the signal to be measured corresponding to the real-time acquisition and detection of the rotor position; then the first signal is input into the phase-locked loop for angle tracking processing to obtain the second signal; the first signal and the second signal are input into the adaptive notch filter to calculate the amplitude of the signal to be measured; the output signal of the output end of the low-pass filter in the adaptive notch filter is obtained, and the zero bias value of the signal to be measured is obtained based on the output signal. In this way, the present application can calibrate the signal to be measured separately for each detection of the rotor position, breaking through the limitation that the Fourier transform needs to store a large amount of data for calculation and the storage space of the device is limited. In addition, a low-pass filter is added to the adaptive notch filter so as to filter out the DC quantity, calibrate the amplitude and zero bias value of the signal to be measured, realize the extraction of the signal amplitude and zero bias, reduce the influence of noise, and improve the accuracy of the result.

[0040] In an exemplary embodiment of the present application, the specific steps of real-time acquisition of the corresponding signal to be measured when detecting the rotor position may include:

[0041] Obtain the sensor signal output by the magnetic encoder when detecting the rotor position, perform AD acquisition processing on the sensor signal, and obtain the signal to be measured;

[0042] The signals to be tested include sine and cosine signals, and their expressions are: and Where, d 1 (k) is the sinusoidal signal to be measured, d 2 (k) Cosine signal to be measured, A 1 and B 1 is the amplitude and zero bias value of the sinusoidal signal to be measured, A 2 and B 2is the amplitude and zero bias value corresponding to the cosine signal to be measured.

[0043] In this embodiment, when the motor uses a magnetic encoder to detect the rotor position, the sensor signal output by the MCU detection position sensor chip is obtained, and the sensor signal is AD collected and processed to obtain the signal to be tested, that is, the sensor signal is converted into a digital quantity that can be recognized by the adaptive notch filter.

[0044] In addition, in this embodiment, the signal to be tested includes a sine signal to be tested and a cosine signal to be tested. The signal to be tested is expressed as d(k), and the sine signal to be tested is expressed as The cosine signal to be measured is expressed as Among them A 1 and B 1 is the amplitude and zero bias value of the sinusoidal signal to be measured, A 2 and B 2 The amplitude and zero bias value corresponding to the cosine signal to be tested are input into the zero bias and amplitude calibration method of the adaptive notch filter application signal provided in the present application, and A can be identified. 1 and B 1 and A 2 and B 2 , thereby realizing the zero bias and amplitude calibration of the signal.

[0045] In this way, the present application uses the sine and cosine signals corresponding to the signals when the magnetic encoder detects the rotor position as the signals to be measured through the above embodiments, so as to improve the comprehensiveness of the calculation during the measurement process, thereby improving the accuracy of the results.

[0046] In an exemplary embodiment of the present application, the signal to be measured is normalized to obtain a first signal as an input of a phase-locked loop, and the specific steps may include:

[0047] Normalizing the sine test signal and the cosine test signal included in the test signal to obtain the normalized sine test signal and the cosine test signal as the first signal;

[0048] The expression of the first signal is (d 1 (k)-B 1 ) / A 1 and (d 2 (k)-B 2 ) / A 2 .

[0049] In this embodiment, the signal to be measured includes a sine signal to be measured and a cosine signal to be measured, and the expressions are respectively: Where, d 1 (k) is the sinusoidal signal to be measured, d 2 (k) Cosine signal to be measured, A1 and B 1 is the amplitude and zero bias value of the sinusoidal signal to be measured, A 2 and B 2 is the amplitude and zero offset of the cosine signal to be measured. The two input signals of the phase-locked loop are (d 1 (k)-B 1 ) / A1 and (d 2 (k)-B 2 ) / A 2 Instead, represents the normalized sine test signal and cosine test signal.

[0050] In another exemplary embodiment, the first signal is input into a phase-locked loop to obtain an output angle, thereby obtaining a second signal for input into an adaptive notch filter, and the specific steps may include:

[0051] Acquire a signal angular frequency of the first signal, and obtain an output angle of a phase-locked loop based on the signal angular frequency;

[0052] The actual angle of the rotor is obtained, and the tracking angle error is obtained based on the actual angle and the output angle;

[0053] The angle tracking regulator in the phase-locked loop is used to perform angle tracking processing on the first signal based on the tracking angle error to obtain the second signal.

[0054] The tracking angle error calculation formula of the angle tracking regulator is: ε is the tracking angle error, θ corresponds to the actual angle of the rotor, The phase-locked loop output angle, ω is the signal angular frequency, where In this embodiment, after the first signal is input into the phase-locked loop, the phase-locked loop output angle can be obtained by the angle tracking regulator. And the tracking angle error ε, and then use the tracking angle error calculation formula to deduce and That is, sin(ωk) and cos(ωk) are input into the adaptive notch filter as the second signal.

[0055] In an exemplary embodiment of the present application, the specific steps of obtaining the amplitude of the signal to be measured by using the adaptive notch filter may include:

[0056] Inputting the first signal and the second signal into an adaptive notch filter, and adaptively filtering the first signal and the second signal using an LMS adaptive algorithm to obtain a filtering result;

[0057] Among them, the weight coefficient correction process is as follows:

[0058]

[0059] The expression of the filtering result is:

[0060]

[0061] Where y(k) is the filtering result, is a sinusoidal signal to be measured included in the signal to be measured, sin(ωk) and cos(ωk) are second signals;

[0062] Based on the filtering result, the amplitude of the signal to be measured is obtained, and the expression is:

[0063] In this embodiment, the first signal and the second signal are input into the adaptive notch filter, and the first signal and the second signal are adaptively filtered using the LMS (Least Mean Square) adaptive filtering algorithm. The weight coefficient correction process in this process is as follows:

[0064]

[0065] The expression of the filtering result obtained is:

[0066]

[0067] Where y(k) is the filtering result, is the sine signal to be tested included in the signal to be tested, and sin(ωk) and cos(ωk) are the second signals. Based on the filtering result, the relationship between the signal to be tested and the second signal can be known. Therefore, after sampling the signal to be tested, the second signal is obtained through the phase-locked loop, and then it can be substituted into the above calculation formula to obtain the signal amplitude of the signal to be tested.

[0068] It should also be noted that when the signal to be measured includes not only a sine signal to be measured but also a cosine signal to be measured, the principle of calculating the amplitude of the cosine signal to be measured is the same as the above calculation principle, and therefore will not be described in detail here.

[0069] In an exemplary embodiment of the present application, the specific steps of extracting the zero bias value of the signal to be measured by using the low-pass filter in the adaptive notch filter may include:

[0070] Obtaining an output signal at an output end of a low-pass filter in an adaptive notch filter, the output signal being an output of a zero bias value of a signal to be measured after low-pass filtering;

[0071] The output signal is analyzed and processed to identify the zero bias value of the signal to be measured.

[0072] In this way, the present application can obtain the output of the zero bias of the signal to be measured after passing through the low-pass filter through the above embodiment by adding a low-pass filter in the adaptive notch filter to calculate and extract the amplitude, thereby identifying the zero bias value.

[0073] Figure 2 FIG. 1 is a block diagram of a signal zero bias and amplitude calibration system shown in an exemplary embodiment of the present application. Figure 2 As shown, the system includes an adaptive notch filter and a phase-locked loop, the phase-locked loop is connected to the adaptive notch filter, and a low-pass filter is arranged in the adaptive notch filter;

[0074] The phase-locked loop is used to perform angle tracking processing on a first signal obtained after normalizing the corresponding signal to be measured when the magnetic encoder detects the rotor position, to obtain a second signal, and transmit the second signal to the adaptive notch filter;

[0075] The adaptive notch filter includes multiple input terminals, respectively used to receive the first signal and the second signal; the adaptive notch filter is also used to obtain the amplitude of the signal to be measured based on the first signal and the second signal, and to obtain the zero bias value of the signal to be measured based on the output signal of the output terminal of the low-pass filter.

[0076] The system applies the zero bias and amplitude calibration method of the signal provided by the present application, and obtains the first signal by normalizing the corresponding signal to be measured when the rotor position is detected in real time; then the first signal is input into the phase-locked loop for angle tracking processing to obtain the second signal; the first signal and the second signal are input into the adaptive notch filter to calculate the amplitude of the signal to be measured; the output signal of the output end of the low-pass filter in the adaptive notch filter is obtained, and the zero bias value of the signal to be measured is obtained based on the output signal. In this way, the zero bias and amplitude calibration system of the signal provided by the present application can be calibrated separately for the signal to be measured each time the rotor position is detected, breaking through the limitation that the Fourier transform needs to store a large amount of data for calculation and the storage space of the device is limited. In addition, a low-pass filter is added to the adaptive notch filter so as to filter out the DC quantity, calibrate the amplitude and zero bias value of the signal to be measured, realize the extraction of signal amplitude and zero bias, reduce the influence of noise, and improve the accuracy of the result.

[0077] In another exemplary embodiment, an angle tracking regulator is provided in the phase-locked loop for performing angle tracking processing on the first signal to obtain the second signal. Figure 3 , Figure 3 It is a schematic diagram of an adaptive notch filter and a phase-locked loop for implementing a signal zero bias and amplitude calibration method in a signal zero bias and amplitude calibration system in an exemplary embodiment of the present application.

[0078] like Figure 3 As shown in the figure, the sensor signal output by the magnetic encoder when detecting the rotor position is obtained, and the measured signal obtained by AD acquisition processing is input as the original input d(k) to the signal zero bias and amplitude calibration system. d(k) includes the sinusoidal measured signal Sum and cosine test signal Then, the sine test signal and the cosine test signal included in the test signal are normalized to obtain the normalized sine test signal (d 1 (k)-B 1 ) / A 1 and cosine signal to be measured (d 2 (k)-B 2 ) / A 2 As the input of the first signal phase-locked loop, the angle tracking regulator in the phase-locked loop obtains the output angle of the phase-locked loop and the tracking angle error based on the first signal, thereby calculating the tracking angle error: The corresponding second signals sin(ωk) and cos(ωk) are calculated.

[0079] The second signal is returned as the input of the adaptive notch filter, and the LMS adaptive algorithm is used to adaptively filter the first signal and the second signal to obtain the amplitude. The output signal B(k) of the low-pass filter is used to identify the zero bias value of the signal to be measured, thereby completing the signal zero bias and amplitude calibration.

[0080] It should be noted that the signal zero bias and amplitude calibration system provided in the above embodiment and the signal zero bias and amplitude calibration method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the signal zero bias and amplitude calibration system provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0081] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the signal zero bias and amplitude calibration method provided in the above-mentioned embodiments.

[0082] Figure 4 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 4 The computer system 400 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0083] like Figure 4As shown, the computer system 400 includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method in the above embodiment. In the RAM 403, various programs and data required for system operation are also stored. The CPU 401, ROM 402 and RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0084] The following components are connected to the I / O interface 405: an input section 406 including a keyboard, a mouse, etc.; an output section 407 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0085] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 409, and / or installed from a removable medium 411. When the computer program is executed by a central processing unit (CPU) 401, various functions defined in the system of the present application are executed.

[0086] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0087] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0088] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0089] Another aspect of the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned signal zero bias and amplitude calibration method when the computer program is executed by a processor. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist independently without being assembled into the electronic device.

[0090] Another aspect of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the signal zero bias and amplitude calibration method provided in each of the above embodiments.

[0091] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A method for calibrating zero bias and amplitude of a signal, characterized in that: Applied to an adaptive notch filter, wherein a low-pass filter is provided in the adaptive notch filter, the method comprises: Real-time acquisition of the corresponding signal to be measured when the magnetic encoder detects the rotor position; Performing normalization processing on the signal to be measured to obtain a first signal; Inputting the first signal into a phase-locked loop for angle tracking processing to obtain a second signal; Inputting the first signal and the second signal into the adaptive notch filter, and calculating the amplitude of the signal to be measured; An output signal of an output end of the low-pass filter in the adaptive notch filter is obtained, and a zero bias value of the signal to be measured is obtained based on the output signal.

2. The method according to claim 1, characterized in that: The real-time acquisition and detection of the corresponding signal to be measured when the rotor position is detected includes: Acquire the sensor signal output by the magnetic encoder when detecting the rotor position, perform AD acquisition processing on the sensor signal to obtain a signal to be measured; The signals to be tested include a sine signal to be tested and a cosine signal to be tested, and the expressions are respectively and Wherein, d1(k) is the sine signal to be measured, d2(k) is the cosine signal to be measured, A1 and B1 are the amplitude and zero bias value corresponding to the sine signal to be measured, and A2 and B2 are the amplitude and zero bias value corresponding to the cosine signal to be measured.

3. The method according to claim 2, characterized in that The step of normalizing the signal to be tested to obtain a first signal includes: Normalizing the sine test signal and the cosine test signal included in the test signal to obtain the normalized sine test signal and the cosine test signal as the first signal; The first signal is expressed as (d1(k)-B1) / A1 and (d2(k)-B2) / A2.

4. The method according to claim 1, characterized in that The step of inputting the first signal into a phase-locked loop for angle tracking processing to obtain a second signal comprises: Acquire a signal angular frequency of the first signal, and obtain an output angle of a phase-locked loop based on the signal angular frequency; Acquire an actual angle of the rotor, and obtain a tracking angle error based on the actual angle and the output angle; The angle tracking regulator in the phase-locked loop is used to perform angle tracking processing on the first signal based on the tracking angle error to obtain a second signal.

5. The method according to claim 1, characterized in that: The step of inputting the first signal and the second signal into the adaptive notch filter and calculating the amplitude of the signal to be measured comprises: Inputting the first signal and the second signal into the adaptive notch filter, and adaptively filtering the first signal and the second signal using an LMS adaptive algorithm to obtain a filtering result; Among them, the weight coefficient correction process is as follows: The expression of the filtering result is: Where y(k) is the filtering result, is the sinusoidal signal to be tested included in the signal to be tested, sin(ωk) and cos(ωk) are the second signal; The amplitude of the signal to be measured is obtained based on the filtering result, and the expression is:

6. The method according to claim 1, characterized in that The step of obtaining an output signal of an output end of the low-pass filter in the adaptive notch filter and obtaining a zero bias value of the signal to be measured based on the output signal comprises: Acquire an output signal at an output end of the low-pass filter in the adaptive notch filter, wherein the output signal is an output of the zero bias value of the signal to be measured after low-pass filtering; The output signal is analyzed and processed to identify the zero bias value of the signal to be measured.

7. A signal zero bias and amplitude calibration system, characterized in that: The signal zero bias and amplitude calibration system comprises an adaptive notch filter and a phase-locked loop, wherein the phase-locked loop is connected to the adaptive notch filter, and a low-pass filter is arranged in the adaptive notch filter; The phase-locked loop is used to perform angle tracking processing on a first signal obtained after normalizing the corresponding signal to be measured when the magnetic encoder detects the rotor position, to obtain a second signal, and transmit the second signal to the adaptive notch filter; The adaptive notch filter includes multiple input terminals, respectively used to receive the first signal and the second signal; the adaptive notch filter is also used to obtain the amplitude of the signal to be measured based on the first signal and the second signal, and to obtain the zero bias value of the signal to be measured based on the output signal of the output terminal of the low-pass filter.

8. The system according to claim 1, characterized in that An angle tracking regulator is provided in the phase-locked loop for performing angle tracking processing on the first signal to obtain a second signal.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the zero bias and amplitude calibration method of the signal as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: Computer-readable instructions are stored thereon, and when the computer-readable instructions are executed by a processor of a computer, the computer is enabled to execute the zero bias and amplitude calibration method of a signal according to any one of claims 1 to 6.

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